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#ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__GRID_CELLS_PUBLISHER_HPP_
#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__GRID_CELLS_PUBLISHER_HPP_

#include <chrono>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/clock.hpp"
#include "std_msgs/msg/header.hpp"
#include "nav_msgs/msg/grid_cells.hpp"
#include "geometry_msgs/msg/point.hpp"

using namespace std::chrono_literals;  // NOLINT

namespace nodes
{

class GridCellsPublisher : public rclcpp::Node
{
public:
  GridCellsPublisher()
  : Node("grid_cells_publisher")
  {
    publisher = this->create_publisher<nav_msgs::msg::GridCells>("grid_cells", 10);
    timer = this->create_wall_timer(500ms, std::bind(&GridCellsPublisher::timer_callback, this));
  }

private:
  void timer_callback()
  {
    auto message = nav_msgs::msg::GridCells();
    message.header = std_msgs::msg::Header();
    message.header.frame_id = "grid_cells_frame";
    message.header.stamp = rclcpp::Clock().now();

    message.cell_width = 6;
    message.cell_height = 5;

    std::vector<geometry_msgs::msg::Point> points;
    points.push_back(point(0, -1, 0));
    points.push_back(point(3, 1, 0));
    points.push_back(point(-3, 1, 0));
    message.cells = points;

    publisher->publish(message);
  }

  geometry_msgs::msg::Point point(float x, float y, float z)
  {
    auto point = geometry_msgs::msg::Point();
    point.x = x;
    point.y = y;
    point.z = z;
    return point;
  }

  rclcpp::TimerBase::SharedPtr timer;
  rclcpp::Publisher<nav_msgs::msg::GridCells>::SharedPtr publisher;
};

}  // namespace nodes

#endif  // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__GRID_CELLS_PUBLISHER_HPP_
